To solve the problem that the guided missile insert-pull mechanism can't act quickly and accurately, we put forward a new control mode for implementing reliable insert-pull action by calibrating the target point through visual control taking a 6-DOF robot as the experimental platform. The information of the socket's location is obtained by using image processing and camera calibration, which is then read out by the CPAC controller, and is used to control the end effector to complete reliable action. The feasibility of the method is verified through experiment.